Was that test done with Artoonix? I assume it was. I'm curious about it because the apparently simultaneous movements of different elements of the body seem to happen using different planes and centres of rotation. (As you'll remember, the provision of just a single CoR was always my main criticism of Artoonix). Bubblebot moves limbs, simulates the rotation of its head, and also changes overall body shape.

Can I suggest that you add a tutorial into the website to show how you achieved these effects?